/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004-2005 ActivMedia Robotics LLC
Copyright (C) 2006-2010 MobileRobots Inc.
Copyright (C) 2011-2015 Adept Technology, Inc.
Copyright (C) 2016-2018 Omron Adept Technologies, Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "Aria.h"

ArKeyHandler keyHandler;

void up(void)
{
  printf("Up\n");
}

void down(void)
{
  printf("Down\n");
}

void right(void)
{
  printf("Right\n");
}

void left(void)
{
  printf("Left\n");
}

void escape(void)
{
  printf("Escape\n");
  printf("exiting\n");
  keyHandler.restore();
  Aria::shutdown();
  exit(0);
}

void space(void)
{
  printf("Space\n");
}

void a(void)
{
  printf("a\n");
}


int main(int argc, char **argv)
{
  Aria::init();
  ArGlobalFunctor upCB(&up);
  ArGlobalFunctor downCB(&down);
  ArGlobalFunctor aCB(&a);
  ArGlobalFunctor escapeCB(&escape);
  ArGlobalFunctor spaceCB(&space);

  puts("Adding key handlers for: up, down, escape (also exits program), space, 'a', 'a' (again; should warn)");
  keyHandler.addKeyHandler(ArKeyHandler::UP, &upCB);
  keyHandler.addKeyHandler(ArKeyHandler::DOWN, &downCB);
  keyHandler.addKeyHandler(ArKeyHandler::ESCAPE, &escapeCB);
  keyHandler.addKeyHandler(ArKeyHandler::SPACE, &spaceCB);
  keyHandler.addKeyHandler('a', &aCB);
  keyHandler.addKeyHandler('a', &aCB);
  

  while (1)
  {
    keyHandler.checkKeys();
    ArUtil::sleep(100);
  }
}
